I wonder if the radar sends a response pending...

debug

dont cache

fix

debug

selfdrive/car/car_helpers.py

@@ -102,7 +102,7 @@ def fingerprint(logcan, sendcan):
       if cached_params.carName == "mock":
         cached_params = None
 
-    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
+    if False and cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
       cloudlog.warning("Using cached CarParams")
       vin = cached_params.carVin
       car_fw = list(cached_params.carFw)

selfdrive/car/isotp_parallel_query.py

@@ -124,6 +124,7 @@ class IsoTpParallelQuery:
 
         if response_valid:
           last_response_time = time.monotonic()
+          cloudlog.warning(f"iso-tp got query response: {tx_addr}, {time.monotonic()}")
           if counter + 1 < len(self.request):
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
@@ -131,8 +132,11 @@ class IsoTpParallelQuery:
             results[tx_addr] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
+          error_code = dat[2] if len(dat) > 2 else -1
+          if error_code == 0x78:
+            cloudlog.warning(f"iso-tp query response pending: {tx_addr}, {time.monotonic()}")
           request_done[tx_addr] = True
-          cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
+          cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
       cur_time = time.monotonic()
       if cur_time - last_response_time > timeout: